JP2021160535A - Parking support system - Google Patents

Abstract

To enable parking at an appropriate position in a parking space without requiring operation input which is performed by a driver.SOLUTION: A parking frame extracting device (15) extracts an available parking frame 51 demarcated by demarcation lines 50, on the basis of first environment information acquired by an environment information acquiring device (7). A control device 15 sets (ST3) a parking position candidate 53 at a prescribed position within the parking frame 51, calculates (ST5) a first trajectory 56 arriving at a target parking position 55 selected by a user, and executes (ST6) first drive processing for causing a vehicle to autonomously move along the first trajectory 56. The control device 15 sets (ST12, ST14) a corrected parking position 58 different from the target parking position 55 on the basis of second environment information to be acquired by the environment information acquiring device (7) during and/or after the first drive processing, and calculates (ST15) a second trajectory 60 arriving at the corrected parking position 58 from the target parking position 55, in order to cause the vehicle to autonomously move (ST16) along the second trajectory.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a parking support system for autonomously driving and parking a vehicle.

A parking support device that supports vehicle running in which vehicles are parked in parallel in a parking space is known. For example, when parking in parallel in a parking space adjacent to an obstacle, a trigger operation detecting means is provided on the vehicle as a parking support device capable of easily moving the vehicle to the desired side of the driver. It is described in Patent Document 1 that the correction direction determining means determines the direction in which the target parking position is shifted by detecting the user's operation input to the switch, and performs the correction to shift the target parking position in the determined direction. There is.

When this parking support device detects an operation input that operates the door mirror storage switch to the storage side as a trigger, if an obstacle is adjacent to one side of the parking space, the parking support device wants to move to the side where the obstacle exists. Understand the driver's intention. When obstacles are adjacent to both sides of the parking space, the parking support device determines that the designated direction is to be aligned in response to the signal of a switch for designating the left-right direction such as a winker switch.

Japanese Unexamined Patent Publication No. 2014-34322

However, even if the parking support device described in Patent Document 1 detects an obstacle, the target parking position is not shifted unless there is an operation input of the driver as a trigger. Therefore, if the driver is not familiar with the operation or if the driver is not aware of the obstacle, the target parking position cannot be shifted to an appropriate position. Also, if there is an obstacle on one side of the vehicle, the target parking position will be moved closer to the obstacle side, but if parking is done at such a position, it will hinder the opening and closing of the door. Sometimes I come.

In view of such a background, it is an object of the present invention to provide a parking support system capable of parking at an appropriate position in a parking space without the driver performing operation input.

In order to solve such a problem, an embodiment of the present invention is a parking support system (1) with an outside world information acquisition device (7 (18, 19)) that acquires outside world information around the vehicle. , A parking frame extraction device (15 (41)) that extracts available parking frames (51) partitioned by a lane marking (50) based on the first outside world information acquired by the outside world information acquisition device. A display device (32) for displaying the parking position candidate (53) set in the parking frame, and a selection operator for accepting a user's selection operation for the parking position candidate displayed on the display device ( 35, 32), the parking position candidate is set at a predetermined position in the parking frame (ST3), and the parking position candidate selected by the user via the selection operator is set as the target parking position (55). (ST5), the first track (56) to reach the target parking position is calculated (ST5), and the first drive process (ST6) for autonomously moving the vehicle along the first track is performed. It has a control device (15 (43, 44)) to execute, and the control device is acquired by the outside world information acquisition device during and / or after the first drive process. Based on the outside world information of the above, a modified parking position (58) different from the target parking position is set (ST12, ST14), and a second track (60) from the target parking position to the modified parking position is calculated. (ST15), the second drive process (ST16) for autonomously moving the vehicle along the second track is executed.

When setting the parking position candidate, the outside world information acquisition device may not be able to acquire the information to the back of the parking frame, and the first outside world information may not include the information at the back of the parking frame. Therefore, the extracted parking frame may not form a parking space without obstacles to the back side. According to this configuration, even in such a case, the driving process to the target parking position based on the first external world information is performed, and even if the driver does not input the operation during the driving process, the first operation is performed. The modified parking position is set based on the second outside world information acquired during and / or after the first drive process, and the vehicle moves to the modified parking position by the second drive process. As a result, the vehicle can be parked at an appropriate position according to the situation around the parking frame.

Preferably, the control device sets the target parking position at the center position in the width direction within the target parking position, and sets the modified parking position at a position offset in the width direction from the target parking position.

According to this configuration, when moving to the central target parking position between the left and right lane markings that define the parking frame, the space in which the external world information acquisition device expands corresponding to the target parking position, especially the back side of the parking frame. The shape of the space can be obtained accurately. In addition, since the vehicle moves to the modified parking position offset in the width direction from the target parking position, the occupant's disembarkability is improved.

Preferably, the second outside world information includes position information of left and right obstacles of the vehicle detected by the outside world information acquisition device while the vehicle moves to the target parking position, and the control device When the minimum distance (Dmin) in the width direction to the obstacle on either the left or right side is equal to or less than a predetermined threshold value (Dth) (ST10: No), the modified parking position is set in the direction in which the minimum distance increases. It is preferable to set the position offset from the center position (ST12, ST14).

According to this configuration, the minimum distance from the side of the vehicle body to the obstacles on the left and right is increased, so that it is easy to get off from both the left and right.

Preferably, the control device sets the modified parking position in the parking frame in parallel with the section line (ST12, ST14).

According to this configuration, it is possible to park the car in an appropriate position and orientation in the parking frame according to the position of the surrounding situation.

Preferably, the control device is the parking position candidate when the frontage of the parking space (52) corresponding to the parking frame is the first width (Wf1) or more larger than the vehicle width (Wv) (ST2: Yes). (ST3), and when the frontage of the parking space corresponding to the target parking position is the second width (Wf2) or more larger than the first width (ST8: Yes), the second drive process is performed. Should be executed.

According to this configuration, the frontage of the parking space acquired based on the second outside world information is larger than the first width required when setting the parking position candidate set based on the first outside world information. When it has two widths, the second drive process is performed. That is, the second drive process is executed when the modified parking position can be offset to some extent from the target parking position. Therefore, the second drive process can surely improve the occupant's ability to get off the vehicle. Further, the parking frame extracted based on the first outside world information can be a parking position candidate if the corresponding parking space has a frontage of the first width smaller than the second width, so that many parking positions can be obtained. Candidates can be presented to the driver by display on the display device.

Preferably, the control device does not perform the second drive process when the frontage of the parking space corresponding to the target parking position is smaller than the second width (ST8: No).

According to this configuration, when the amount by which the modified parking position can be offset from the target parking position is small, the second drive process is not executed, so that it is possible to suppress the driver from feeling annoyed by the parking assistance.

Preferably, the parking frame extraction device may extract as the parking frame that can be used when a part of the entrance side of the parking frame is recognized (ST1).

According to this configuration, even if the first outside world information does not include the information behind the parking area between the two lane markings, this parking area is detected as an available parking frame and the parking area is parked. It can be presented to the driver as a position candidate.

According to the present invention, it is possible to provide a parking support system capable of parking at an appropriate position in a parking space without the driver performing operation input.

Functional configuration diagram of a vehicle equipped with a parking support system Flowchart of automatic warehousing process (A) Available parking slots, (B) Explanatory drawing of selected parking position candidates The figure which shows the screen display of the touch panel during (A) parking frame search processing (parking search screen), and (B) target parking position selection (selection setting screen). The figure which shows the screen display of the touch panel during (C) the first drive processing (the warehousing screen), and (D) when the automatic parking of a vehicle is completed (the warehousing screen). Explanatory drawing of the parking space recognized after entering the target parking position Explanatory drawing of the modified parking position set after warehousing to the target parking position

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

The parking support system 1 is mounted on a vehicle such as an automobile provided with a vehicle control system 2 for autonomously traveling the vehicle.

As shown in FIG. 1, the vehicle control system 2 includes a propulsion device 4, a braking device 5, a steering device 6, an outside world sensor 7, a vehicle sensor 8, a navigation device 10, a driving operator 11, a driving operation sensor 12, and a state detection sensor. It has 13, an HMI 14, and a control device 15. Each configuration of the vehicle control system 2 is connected to each other so that signals can be transmitted by a communication means such as CAN (Control Area Network).

The propulsion device 4 is a device that applies a driving force to the vehicle, and includes, for example, a power source and a transmission. The power source has at least one of an internal combustion engine such as a gasoline engine and a diesel engine and an electric motor. In the present embodiment, the propulsion device 4 includes an automatic transmission 16 and a shift actuator 17 that changes the shift position (shift position) of the automatic transmission 16. The brake device 5 is a device that applies a braking force to a vehicle, and includes, for example, a brake caliper that presses a pad against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper. The braking device 5 may include an electric parking brake device that regulates the rotation of the wheels by a wire cable. The steering device 6 is a device for changing the steering angle of the wheels, and includes, for example, a rack and pinion mechanism for steering the wheels and an electric motor for driving the rack and pinion mechanism. The propulsion device 4, the brake device 5, and the steering device 6 are controlled by the control device 15.

The outside world sensor 7 is a device (outside world information acquisition device) that captures electromagnetic waves, sound waves, and the like from the periphery of the vehicle, detects an object outside the vehicle, and acquires peripheral information of the vehicle. The outside world sensor 7 includes a sonar 18 and an outside camera 19. The external sensor 7 may include a millimeter wave radar or a laser rider. The external sensor 7 outputs the detection result to the control device 15.

A sonar 18 is a so-called ultrasonic sensor, which emits ultrasonic waves around a vehicle and detects the position (distance and direction) of an object by capturing the reflected waves. A plurality of sonar 18s are provided at the rear and front of the vehicle, respectively. In this embodiment, two pairs of sonar 18 are provided on the left and right sides of the rear bumper, two pairs are provided on the left and right sides of the front bumper, and one pair is provided on each of the front and rear ends of the left and right sides of the vehicle, for a total of six pairs. The sonar 18 provided on the rear bumper mainly detects the position of an object behind the vehicle, and the sonar 18 provided on the front bumper mainly detects the position of an object in front of the vehicle. The sonars 18 provided on the left and right side front ends of the vehicle detect the positions of objects on the left and right outer sides of the vehicle front end, respectively, and the sonar 18s provided on the left and right side surface rear ends of the vehicle are located on the left and right outer sides of the vehicle rear end, respectively. Detects the position of an object.

The vehicle exterior camera 19 is a device that images the surroundings of the vehicle, and is, for example, a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The outside camera 19 includes a front camera that images the front of the vehicle and a rear camera that images the rear of the vehicle. The vehicle exterior camera 19 is provided in the vicinity of the door mirror of the vehicle, and may include a pair of left and right side cameras that image the left and right side portions.

The vehicle sensor 8 includes a vehicle speed sensor that detects the speed of the vehicle, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the vehicle, and the like. The yaw rate sensor is, for example, a gyro sensor.

The navigation device 10 is a device that acquires the current position of the vehicle and provides route guidance to the destination, and has a GPS receiving unit 20 and a map storage unit 21. The GPS receiving unit 20 identifies the position (latitude and longitude) of the vehicle based on the signal received from the artificial satellite (positioning satellite). The map storage unit 21 is composed of a known storage device such as a flash memory or a hard disk, and stores map information.

The driving operator 11 is provided in the vehicle interior and receives an input operation performed by the user to control the vehicle. The operation operator 11 includes a steering wheel 22, an accelerator pedal 23, a brake pedal 24 (braking operator), and a shift lever 25.

The operation operation sensor 12 detects the operation amount of the corresponding operation operator 11. The driving operation sensor 12 includes a steering angle sensor 26 of the steering wheel 22, a brake sensor 27 that detects the amount of depression of the brake pedal 24, and an accelerator sensor 28 that detects the amount of depression of the accelerator pedal 23. The operation operation sensor 12 outputs the detected operation amount to the control device 15, respectively.

The state detection sensor 13 is a sensor for detecting a change in the state of the vehicle due to the operation of the occupant. The operation of the occupant detected by the state detection sensor 13 includes the operation of the occupant corresponding to the intention to get off the vehicle and the operation of the occupant corresponding to abandoning the monitoring around the vehicle during the parking operation. The state detection sensor 13 includes a door open / close sensor 29 for detecting the opening / closing of the door of the vehicle and a seatbelt sensor 30 for detecting the wearing state of the seatbelt as sensors for detecting the operation of the occupant corresponding to the intention to get off. include. The state detection sensor 13 includes a door mirror position sensor 31 that detects the position of the door mirror as a sensor for detecting the operation of the occupant corresponding to abandoning the monitoring around the vehicle during the parking operation. The state detection sensor 13 outputs signals indicating the detected state change of the vehicle to the control device 15, respectively.

The HMI 14 is an input / output device that notifies the occupant of various information by display or voice and accepts an input operation from the occupant. The HMI 14 has, for example, a touch panel 32 having a display screen such as a liquid crystal display or an organic EL and accepting an input operation on the screen from an occupant, a sound generator 33 such as a buzzer or a speaker, a parking main switch 34, and a selection operation. Includes child 35. The parking main switch 34 receives input operations related to automatic parking such as automatic warehousing and automatic warehousing from the occupants. The parking main switch 34 is a so-called momentary switch that is turned on only when a pressing (pushing) operation is performed by the occupant. The selection operator 35 receives a selection operation related to automatic parking such as automatic warehousing and automatic warehousing from the occupant. The selection operator 35 is a rotary type, and more preferably, it is a select switch that can be selected by pushing it in.

The control device 15 is an electronic control unit (ECU) including a CPU, a non-volatile memory (ROM), a volatile memory (RAM), and the like. The control device 15 executes various vehicle controls by executing arithmetic processing according to the program on the CPU. The control device 15 may be configured as one hardware, or may be configured as a unit composed of a plurality of hardware. Further, at least a part of each functional unit of the control device 15 may be realized by hardware such as LSI, ASIC, FPGA, or may be realized by a combination of software and hardware.

In addition, the control device 15 performs arithmetic processing according to the program to convert an image (video) taken by the external camera 19 to obtain a bird's-eye view image corresponding to a plan view of the vehicle and its surroundings, and a vehicle. And a bird's-eye view image corresponding to a three-dimensional image viewed from above around the traveling direction is generated. The control device 15 generates a bird's-eye view image by combining the images of the front camera, the rear camera, and the left and right side cameras, and combines the images of the front camera or the rear camera facing the traveling direction with the images of the left and right side cameras. It is good to generate a bird's-eye view image.

The parking support system 1 autonomously moves the vehicle to a predetermined target position (target parking position 55 (see FIG. 4B) or target exit position) selected by the occupant to enter and exit the vehicle, so-called automatic parking. It is a system for doing.

The parking support system 1 includes a control device 15, an outside world sensor 7 (sona 18 and an outside camera 19) as an outside world information acquisition device, a touch panel 32 as a display device capable of selection operation, a selection operator 35, and an image pickup device. Includes the outside camera 19.

The control device 15 controls the propulsion device 4, the brake device 5, and the steering device 6 to autonomously move the vehicle to the target parking position 55 to store the vehicle, and to move the vehicle to the target exit position. It is possible to execute each autonomous warehousing operation to move and warehousing autonomously. In order to perform such control, the control device 15 includes an outside world recognition unit 41, a vehicle position identification unit 42, an action planning unit 43, a travel control unit 44, a vehicle abnormality detection unit 45, and a vehicle condition determination unit 46.

Based on the detection result of the outside world sensor 7, the outside world recognition unit 41 recognizes obstacles such as parked vehicles and walls existing around the vehicle, and acquires information such as the position and size of the obstacles. Further, the outside world recognition unit 41 analyzes the image acquired by the vehicle outside camera 19 based on a known image analysis method such as pattern matching, and acquires the presence / absence of a wheel chock or an obstacle and its size. Further, the outside world recognition unit 41 may calculate the distance to the obstacle using the signal from the sonar 18 and acquire the position of the obstacle.

The outside world recognition unit 41 also analyzes the detection result of the outside world sensor 7, more specifically, the image captured by the outside camera 19 based on a known image analysis method such as pattern matching. According to the analysis, the outside world recognition unit 41 is a usable parking frame 51 partitioned by, for example, a lane on a road partitioned by road markings or a lane 50 such as a white line drawn on a road surface such as a road or a parking lot. (See FIG. 3 (A)) can be extracted. That is, the outside world recognition unit 41 is a parking frame extraction device that extracts the parking frame 51.

The own vehicle position specifying unit 42 detects the position of the own vehicle based on the signal from the GPS receiving unit 20 of the navigation device 10. Further, the own vehicle position specifying unit 42 may acquire the vehicle speed and the yaw rate from the vehicle sensor 8 in addition to the signal from the GPS receiving unit 20, and specify the position and attitude of the own vehicle by using so-called inertial navigation.

The travel control unit 44 controls the propulsion device 4, the brake device 5, and the steering device 6 based on the travel control instruction from the action planning unit 43 to drive the vehicle.

The vehicle abnormality detection unit 45 detects an abnormality in the vehicle based on signals from various devices and sensors. Vehicle abnormalities include failures of devices required to drive the vehicle, including the propulsion device 4, braking device 5, and steering device 6, and autonomous driving of the vehicle such as the outside world sensor 7, the vehicle sensor 8, and the GPS receiver 20. This includes failures of various sensors required. In addition, vehicle abnormalities include HMI 14 failures.

The vehicle state determination unit 46 acquires the state of the vehicle based on signals from various sensors provided in the vehicle, and determines whether the vehicle is in a prohibited state in which traveling should be prohibited. When the occupant makes a driving operation (override operation) on the driving operator 11 to overturn the autonomous movement of the vehicle, the vehicle state determining unit 46 changes the state of the vehicle to a prohibited state in which traveling should be prohibited. Judge that there is.

Further, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when the vehicle is in a state reflecting the occupant's intention to disembark based on the detection result of the state detection sensor 13. More specifically, when the vehicle condition determination unit 46 detects that the door is open by the door open / close sensor 29, the vehicle condition determination unit 46 determines that the vehicle is in the prohibited state. When the vehicle condition determination unit 46 detects that the seatbelt is released by the seatbelt sensor 30, it determines that the vehicle is in the prohibited state.

Further, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when the vehicle is in a state reflecting that the vehicle does not intend to monitor the surroundings of the occupant based on the signal from the state detection sensor 13. More specifically, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when the door mirror is in the closed state in the door mirror position sensor 31.

The action planning unit 43 performs the automatic parking process when the vehicle is in a predetermined state and the HMI 14 or the parking main switch 34 receives a predetermined input corresponding to the user's request for automatic parking. Specifically, the action planning unit 43 automatically receives a corresponding predetermined input when the vehicle is stopped or the vehicle is traveling at a low speed equal to or lower than a predetermined parking frame searchable vehicle speed. Perform warehousing processing. In addition, the action planning unit 43 performs an automatic warehousing process (parallel parking warehousing process) when a corresponding predetermined input is made while the vehicle is stopped. Of the automatic parking process and the automatic warehousing process, the action planning unit 43 may determine the process to be performed based on the state of the vehicle, and is selected by the occupant via the touch panel 32 or the selection operator 35. May be good. When performing the automatic warehousing process, the action planning unit 43 first displays the parking search screen for displaying the parking position candidate 53 on the touch panel 32. When the target parking position 55 is determined, the action planning unit 43 causes the touch panel 32 to display the selection setting screen for displaying the target parking position 55 and the trajectory. After setting the trajectory, the action planning unit 43 displays the warehousing screen on the touch panel 32. When performing the automatic warehousing process, the action planning unit 43 displays the warehousing search screen for setting the target warehousing position, and displays the warehousing screen on the touch panel 32 after selecting and setting the target warehousing position and the trajectory.

The automatic warehousing process will be described with reference to FIG. First, the outside world recognition unit 41 of the control device 15 performs a parking frame search process (ST1) for searching for a available parking frame 51 (hereinafter, may be simply referred to as a parking frame 51). Specifically, as shown in FIG. 3A, the outside world recognition unit 41 is drawn on the road surface with the position and size of the obstacle based on the signal from the outside world sensor 7 (first outside world information). The position of the lane marking 50 and the position are acquired. The outside world recognition unit 41 searches for the parking frame 51 partitioned by the lane marking 50 based on the acquired position and size of the obstacle and the lane marking 50.

More specifically, in the outside world recognition unit 41, the two lane markings 50 on the road surface acquired from the image taken by the outside camera 19 are parallel to each other with an interval suitable for parking (for example, 2.3 m to 3.0 m). The area between the two lane markings 50 is recognized as a parking area. When the parking area is extracted, the outside world recognition unit 41 uses, for example, the type of parking area (parallel parking frame, diagonally) based on the angle formed by the line connecting the front ends of the plurality of lane markings 50 on the lane side and each lane marking 50. Parking frame) is determined.

Further, the outside world recognition unit 41 recognizes an object (obstacle that hinders traveling) around the vehicle detected by the sonar 18, and selects a parking area in which no object exists from the extracted parking areas. Extracted as an available parking frame 51. That is, the empty parking area where the vehicle is not parked is the available parking frame 51. In order to extract the parking frame 51, the outside world recognition unit 41 refers to an obstacle in a range of about 7 to 8 m from the vehicle to the side, for example, from the front to the rear of the vehicle with reference to the vehicle traveling at low speed or stopped. Get information.

When the parking frame 51 for parallel parking is located on the side of the vehicle and no other vehicle is parked, or when there is no obstacle in front of the side of the vehicle, the outside world recognition unit 41 uses the parking frame. It can be recognized that the two marking lines 50 defining the 51 have a predetermined length (for example, 5 m). In other cases (see FIG. 4A), the outside world recognition unit 41 can recognize the front part of the two division lines 50, but often cannot recognize the entire division line 50. Even in such a case, the outside world recognition unit 41 uses this parking area as the parking frame 51 if there is no obstacle in the parking area partitioned by the two lane markings 50 at intervals suitable for parking. Extract.

In the parking frame search process (ST1) of FIG. 2, when the vehicle is stopped, the action planning unit 43 of the control device 15 causes the touch panel 32 of the HMI 14 to display a notification instructing the vehicle to move forward. The outside world recognition unit 41 continues the search for the parking frame 51 while the occupant (hereinafter referred to as the driver) seated in the driver's seat is advancing the vehicle.

Next, the action planning unit 43 determines that the parking frame 51 extracted by the outside world recognition unit 41 is suitable for parking, and the frontage Wf51 of the parking space 52 corresponding to the parking frame 51 (FIG. 4 (A)). ) Is equal to or greater than the predetermined first width Wf1 (step ST2). Here, the parking space 52 corresponding to the parking frame 51 does not mean the space between the lane markings 50 that define the parking frame 51, but the space between the left and right obstacles that defines the space between the lane markings 50. The frontage is the width of the entrance of the parking space 52, and means the distance between the left and right obstacles defining the parking space 52. The first width Wf1 is a value set as the minimum width that allows the door to be opened and closed on the assumption that the parking space 52 extends to the back with the frontage dimension. The first width Wf1 is set to a value (about 2.3 m to 2.5 m) larger than, for example, the vehicle width Wv (see FIG. 6) by about 60 cm.

When the frontage Wf51 of the parking space 52 corresponding to the extracted parking frame 51 has a first width Wf1 or more (ST2: Yes), the action planning unit 43 should park the vehicle as shown in FIG. 3 (B). The parking position is set in the parking frame 51 as the parking position candidate 53 (step ST3). Further, as shown in FIG. 4B, the action planning unit 43 displays the set parking position candidate 53 on the screen of the touch panel 32 (parking search screen shown in FIG. 4A). Specifically, the action planning unit 43 sets the parking position candidate 53 at the center in the width direction of the left and right lane markings 50 that determine the parking frame 51. The parking position candidate 53 is a rectangular region having a vehicle width Wv or more, a width similar to the vehicle width Wv (vehicle width Wv + 10 to 20 cm), and a length equal to or greater than the vehicle length. Therefore, the space from the left and right sides of the parking position candidate 53 to the lane marking 50 is even on the left and right.

When a plurality of parking position candidates 53 are extracted by the outside world recognition unit 41, the action planning unit 43 displays these parking position candidates 53 on the parking search screen shown in FIG. 4A. An upper limit may be set for the number of parking position candidates 53 to be displayed on the touch panel 32. In this case, as shown in FIG. 3B, the action planning unit 43 sequentially acquires a plurality of parking position candidates 53 from the outside world recognition unit 41. When a parking position candidate 53 exceeding the upper limit number (for example, 3) is detected, the action planning unit 43 should display the parking position candidate 53 having the lowest priority set according to a predetermined rule on the touch panel 32. It is removed from the position candidate 53, and the information is erased from the memory. Returning to FIG. 2, when the frontage Wf51 of the parking space 52 corresponding to the parking frame 51 is less than the first width Wf1 (ST2: No), the action planning unit 43 uses the parking frame 51 as the parking position candidate 53 on the parking search screen. The parking frame search process (ST1) is continued by the outside world recognition unit 41 without being displayed on the screen.

Next, the action planning unit 43 performs a selection operation determination process (ST4) for determining whether or not the driver has performed the selection operation of the target parking position 55 to be parked from the parking position candidates 53 displayed on the touch panel 32. conduct. More specifically, the action planning unit 43 displays a bird's-eye view image and a bird's-eye view image in the traveling direction on the parking search screen shown in FIG. 4A. Here, the bird's-eye view image is an image of the own vehicle and its surroundings viewed from above. The bird's-eye view image is displayed so that the front of the vehicle is on the top of the screen, and an image showing the vehicle is combined with the center of the peripheral image. The bird's-eye view image is an image in which the vehicle and the vehicle traveling direction are viewed from above in the direction opposite to the traveling direction in the traveling direction. The bird's-eye view image is displayed so that the traveling direction of the own vehicle is at the top of the screen, and an image showing the own vehicle is combined with the lower part of the peripheral image.

When the action planning unit 43 acquires at least one parking position candidate 53, the action planning unit 43 determines that at least one of these peripheral images has a frame indicating the parking position candidate 53 and an icon 54 corresponding to the frame (parking position candidate 53). The symbol (see “P” in FIG. 4 (A)) is superimposed and displayed. Further, the action planning unit 43 sends a notification on the parking search screen of the touch panel 32 instructing the driver to stop the vehicle and set the parking position (target parking position 55) in order to accept the selection operation of the target parking position 55. To display. The selection operation of the target parking position 55 may be performed via the touch panel 32 or may be performed via the selection controller 35.

When there is no input for the selection operation of the target parking position 55 (ST4: No), the action planning unit 43 causes the outside world recognition unit 41 to continue the parking frame search process (ST1). When the selection operation of the target parking position 55 is accepted (ST4: Yes), the action planning unit 43 sets the selected parking position candidate 53 as the target parking position 55, and the first track from the current position of the vehicle to the target parking position 55. 56 (see FIG. 4B) is calculated (step ST5).

Specifically, as shown in FIG. 4A, the driver operates the selection operator 35 on the parking search screen to appropriately change the parking position candidate 53 selected by the cursor, and the touch panel 32 or the selection operator The determination operation is performed by the operation of 35. Then, the action planning unit 43 sets the selected parking position candidate 53 at the target parking position 55. At this time, as shown in FIG. 4B, the action planning unit 43 displays the target parking position 55 and the corresponding icon 54 on the touch panel 32 in a color different from the other icons 54 and the parking position candidate 53 on the selection setting screen. Let me. The touch panel 32 is a part of the selection controller 35 in the sense that the determination operation can be performed. Further, the action planning unit 43 displays the first trajectory 56 from the current position to the target parking position 55 overlaid on the bird's-eye view image and the bird's-eye view image.

After calculating the first track 56, the action planning unit 43 performs a first drive process (ST6) for driving the vehicle along the calculated first track 56. At this time, the action planning unit 43 controls the propulsion device 4, the braking device 5, and the steering device 6 based on the position of the vehicle acquired by the GPS receiving unit 20 and the signals of the external camera 19, the vehicle sensor 8, and the like. By this control, the action planning unit 43 makes a turn including forward and backward movement of the vehicle, and controls the vehicle so as to travel along the calculated first track 56. At this time, the outside world recognition unit 41 detects obstacles around the vehicle based on the detection result of the outside world sensor 7 and stores the position and size of the obstacles.

Further, the action planning unit 43 switches the screen of the touch panel 32 from the selection setting screen to the warehousing screen after calculating the first trajectory 56. As shown in FIG. 5C, the warehousing screen is a screen in which a front image in the vehicle traveling direction is displayed on the left half of the touch panel 32, and a bird's-eye view image including the vehicle and its surroundings is displayed on the right half. At this time, the action planning unit 43 may display the frame of the thick line indicating the target parking position 55 selected from the parking position candidate 53 and the first track 56 (see FIG. 4B) overlaid on the bird's-eye view image and the front image. ..

During the first drive process, the action planning unit 43 acquires an image of the traveling direction of the vehicle from the external camera 19 and displays it on the left half of the touch panel 32. More specifically, for example, as shown in FIG. 5C, the action planning unit 43 displays an image of the rear of the vehicle captured by the outside camera 19 on the left half of the touch panel 32 when the vehicle is moving backward. Let me. While the action planning unit 43 is executing the first drive process, the peripheral image around the own vehicle in the bird's-eye view image of the right half of the touch panel 32 changes according to the movement of the vehicle.

When the vehicle state determination unit 46 determines that the vehicle is in the prohibited state during the first drive process, the action planning unit 43 displays a display on the touch panel 32 indicating that the automatic parking is interrupted or stopped, and the vehicle. A deceleration process is executed to decelerate the vehicle in order to stop the vehicle. In this way, when the occupant receives a predetermined operation input via the driving operator 11, the action planning unit 43 executes the deceleration process, so that the occupant feels uneasy because the vehicle continues to move. It is suppressed.

Even when a vehicle abnormality is detected by the vehicle abnormality detection unit 45 during the first drive process, the action planning unit 43 displays a display on the touch panel 32 indicating that automatic parking is stopped, and the vehicle is stopped. Executes deceleration processing to decelerate the vehicle. During the first drive process, the action planning unit 43 confirms the presence or absence of an obstacle within a predetermined distance in the traveling direction of the vehicle based on the image from the external camera 19 and the signal from the sonar 18. When an obstacle is detected, the action planning unit 43 displays a display on the touch panel 32 indicating that the automatic parking is interrupted, and executes a deceleration process for decelerating the vehicle in order to stop the vehicle.

When the automatic parking is interrupted, the action planning unit 43 causes the touch panel 32 to display a restart button and a stop button. The action planning unit 43 makes the resume button inoperable while the reason for interruption remains, and enables the restart button to be operated when the reason for interruption disappears. The resume button may be displayed on the touch panel 32 so that the inoperable state or the operable state can be known. When the action planning unit 43 receives the input operation to the restart button, the action planning unit 43 restarts the automatic parking. During the execution of the first drive process, the action planning unit 43 causes the touch panel 32 to display the target parking position 55, the stop position 57, and the first track 56 on the front image and the bird's-eye view image of the warehousing screen as described above. Further, the action planning unit 43 causes the own vehicle to be further displayed on the touch panel 32 in the form of figures, photographs, pictures, etc. on the bird's-eye view image.

Subsequently, the action planning unit 43 performs the warehousing completion determination process (ST7). Specifically, when the vehicle reaches the target parking position 55, the action planning unit 43 stops the vehicle and ends the first drive process. This completes the warehousing. If the warehousing is not completed (ST7: No), the action planning unit 43 continues the first drive process, and when the warehousing is completed (ST7: Yes), proceeds to the process to step ST8.

In step ST8, the action planning unit 43 determines whether or not the parking space 52 corresponding to the target parking position 55 at which the vehicle is stopped is large enough (width) so that the vehicle can easily get off. It is determined whether or not the frontage Wf55 of the parking space 52 is equal to or larger than the second width Wf2. At this time, the action planning unit 43 is based on the detection result (second external world information) of the external world sensor 7 during the first drive process and after the completion of warehousing, more specifically, the position of the obstacle detected by the sonar 18. Then, the frontage Wf55 of the parking space 52 is calculated. As a result, the frontage Wf55 of the parking space 52 corresponding to the target parking position 55 can be obtained more accurately than when it is recognized by the parking frame search process (ST1), and can be compared with the second width Wf2. The second width Wf2 is set to a value larger than the first width Wf1, for example, a value about 120 cm larger than the vehicle width Wv (about 2.9 m to 3.1 m).

When the frontage Wf55 of the parking space 52 corresponding to the target parking position 55 is less than the second width Wf2 (ST8: No), the action planning unit 43 executes the parking process (step ST9). In the parking process, the action planning unit 43 first drives the shift actuator 17 to set the shift position (shift position, shift range) to the parking position (parking range, parking (P) range). After that, the action planning unit 43 drives the parking brake device, and the action planning unit 43 displays a pop-up (see FIG. 5D) on the screen of the touch panel 32 indicating that parking is completed for a predetermined time. After that, the action planning unit 43 may switch the screen display of the touch panel 32 to the operation screen or the map screen of the navigation device 10.

When the frontage Wf55 of the parking space 52 corresponding to the target parking position 55 is the second width Wf2 or more (ST8: Yes), the action planning unit 43 determines that the space on the right side of the parking space 52 corresponding to the target parking position 55 is It is determined whether or not the size is sufficient (step ST10). Specifically, the action planning unit 43 is on the right side based on the detection results of the outside world sensor 7 during the first drive process and after the completion of warehousing, and more specifically, the position information of the obstacle detected by the sonar 18. Find the distance in the width direction to the obstacle. Subsequently, the action planning unit 43 determines whether or not the minimum distance Dminr (see FIG. 6) to the obstacle on the right side is equal to or less than a predetermined threshold value Dth. The predetermined threshold value Dth may be a value that is half of the value obtained by subtracting the vehicle width Wv from the first width Wf1 (about 2.3 m to 2.5 m) or a value slightly smaller than that (about 25 cm to 40 cm). This determination is to confirm whether or not the space on the right side corresponding to the first width Wf1, which is the comparison value of the determination in step ST2, continues not only to the entrance of the parking space 52 but also to the back of the parking space 52. ..

When the minimum distance Dminr to the obstacle on the right side is larger than the predetermined threshold value Dth (ST10: Yes), the action planning unit 43 has a sufficiently large space on the left side of the parking space 52 corresponding to the target parking position 55. It is determined whether or not there is (step ST11). Specifically, the action planning unit 43 is the distance in the width direction to the obstacle on the left side based on the position information of the obstacle detected by the detection result of the outside world sensor 7 during the first drive process and after the warehousing is completed. Ask for. Subsequently, the action planning unit 43 determines whether or not the minimum distance Dminl (see FIG. 6) to the obstacle on the left side is equal to or less than a predetermined threshold value Dth. The predetermined threshold value Dth may be the same as the value used in step ST10. This determination is to confirm whether or not the space on the left side corresponding to the first width Wf1, which is the comparison value of the determination in step ST2, continues not only to the entrance of the parking space 52 but also to the back of the parking space 52. ..

When the minimum distance Dminl to the obstacle on the left side is larger than the predetermined threshold value Dth (ST11: Yes), since the left and right spaces are sufficiently large, the action planning unit 43 processes the parking process in step ST9. Proceed.

On the other hand, when the minimum distance Dminl to the obstacle on the left side is equal to or less than the predetermined threshold value Dth, the determination in step ST11 becomes No. For example, as shown in FIG. 6, when the vehicle on the left is parked diagonally and is approaching the own vehicle at the back of the parking space 52, or when a pillar or the like is on the left side of the back of the parking space 52. For example, if it exists. In this case, the action planning unit 43 sets the modified parking position 58 at a position offset to the right from the stopped target parking position 55 (step ST12). As shown in FIG. 7, the modified parking position 58 in this case is a position offset to the right in the width direction with respect to the center of the two lane markings 50 so that the minimum distance Dminl on the left side becomes large. Specifically, the action planning unit 43 sets the modified parking position 58 in the parking frame 51 so as to be parallel to the lane marking 50 based on the positions of obstacles detected during the first drive process and after the warehousing is completed. Set. At this time, the action planning unit 43 may set the modified parking position 58 so that the minimum distance Dminl to the obstacle on the left side and the minimum distance Dminr to the obstacle on the right side are equal.

In step ST10, even if the minimum distance Dminr to the obstacle on the right side is determined to be No because it is equal to or less than the predetermined threshold value Dth, the action planning unit 43 will park the vehicle corresponding to the target parking position 55 as in step ST11. It is determined whether or not the space on the left side of the space 52 is sufficiently large (step ST13). The predetermined threshold value Dth may be the same as the value used in step ST10 and step ST11.

When the minimum distance Dminl to the obstacle on the left side is equal to or less than the predetermined threshold value Dth (ST13: No), since both the left and right spaces are not sufficiently large, the action planning unit 43 processes the parking process in step ST9. Proceed.

On the other hand, when the minimum distance Dminl to the obstacle on the left side is larger than the predetermined threshold value Dth, the determination in step ST13 is Yes. For example, contrary to the example of FIG. 6, when the vehicle on the right is parked diagonally and is approaching the own vehicle at the back of the parking space 52, or when the pillar is on the right side of the back of the parking space 52. Etc. exist. In this case, the action planning unit 43 sets the modified parking position 58 at a position offset to the left from the stopped target parking position 55 (step ST14). The modified parking position 58 in this case is a position offset to the left in the width direction with respect to the center of the two lane markings 50 so that the minimum distance Dminr on the right side becomes large. Also in step ST14, the action planning unit 43 adjusts the parking position 58 so as to be parallel to the lane marking 50 in the parking frame 51 based on the positions of the obstacles detected during the first drive process and after the warehousing is completed. Set. At this time, the action planning unit 43 may set the modified parking position 58 so that the minimum distance Dminl to the obstacle on the left side and the minimum distance Dminr to the obstacle on the right side are equal.

After setting the modified parking position 58 in step ST12 or step ST14, the action planning unit 43 calculates the second track 60 from the target parking position 55 to the modified parking position 58 (step ST15). Specifically, the action planning unit 43 sets the modified parking position 58 in the parking frame 51 so as to be parallel to the lane marking 50 based on the positions of obstacles detected during the first drive process and after the warehousing is completed. Set. At this time, the action planning unit 43 may set the modified parking position 58 so that the minimum distance Dminl to the obstacle on the left side and the minimum distance Dminr to the obstacle on the right side are equal. The second track 60 is a track including a turn-back that advances from the target parking position 55 when the vehicle is stopped and retreats toward the modified parking position 58.

After calculating the second track 60, the action planning unit 43 performs a second drive process (ST16) for driving the vehicle along the calculated second track 60. At this time, the action planning unit 43 controls the propulsion device 4, the braking device 5, and the steering device 6 based on the position of the vehicle acquired by the GPS receiving unit 20 and the signals of the external camera 19, the vehicle sensor 8, and the like. By this control, the action planning unit 43 makes a turn including forward and backward movement of the vehicle, and controls the vehicle so as to travel along the calculated second track 60. At this time, the outside world recognition unit 41 detects an obstacle around the vehicle based on the detection result of the outside world sensor 7, and the action planning unit 43 performs the second drive while confirming that there is no contact with the obstacle. Perform processing.

Subsequently, the action planning unit 43 performs a correction warehousing completion determination process (step ST17). Specifically, when the vehicle reaches the modified parking position 58, the action planning unit 43 stops the vehicle and ends the second drive process. This completes the modified warehousing. If the modified warehousing is not completed (ST17: No), the action planning unit 43 continues the second drive process, and when the modified warehousing is completed (ST17: Yes), proceeds to the parking process in step ST9.

The control device 15 is configured to execute the automatic warehousing process as described above. Next, the operation and effect of the parking support system 1 configured in this way will be described.

As shown in FIG. 4 (B), in the parking frame search process in step ST1, the two lane markings 50 extend to the depth of the parking area and the parking area partitioned by the two lane markings 50. It may not be confirmed that there are no obstacles to the back of the car. Even in this case, the outside world recognition unit 41 extracts as a parking frame 51 that can be used when a part of the entrance side of the parking area is recognized. As a result, even if the first outside world information does not include the information behind the parking area, this parking area is detected as the parking frame 51, and this is presented to the driver as the parking position candidate 53.

In this case, the extracted parking frame 51 may not form a parking space 52 having no obstacles to the back side. However, even in such a case, the control device 15 sets the parking position candidate 53 in the extracted available parking frame 51 in step ST3, and is selected by the user in step ST5. The parking position candidate 53 is set to the target parking position 55. Therefore, the convenience of parking support is improved because the options of the parking frame 51 presented to the driver are increased.

On the other hand, in steps ST12 and ST14, the control device 15 is modified to be different from the target parking position 55 based on the second outside world information acquired by the outside world sensor 7 during and / or after the first drive process of step ST6. The parking position 58 is set. Then, the control device 15 calculates the second track 60 from the target parking position 55 to the modified parking position 58 in ST15, and in ST16, the second drive process for autonomously moving the vehicle along the second track 60. To execute. Therefore, the vehicle moves from the target parking position 55 to the modified parking position 58 without the driver inputting the operation. As a result, parking is performed at an appropriate position according to the surrounding conditions of the parking frame 51.

Further, in step ST3, the control device 15 sets the target parking position 55 at the center position in the width direction within the target parking position 55. Therefore, when the vehicle moves to the target parking position 55, the outside world sensor 7 can accurately acquire the shape of the parking space 52 corresponding to the target parking position 55, particularly the shape on the back side. In steps ST12 and ST14, the control device 15 sets the modified parking position 58 at a position offset in the width direction from the target parking position 55. As a result, as shown in FIG. 7, the vehicle moves to the modified parking position 58 offset in the width direction from the target parking position 55, so that the occupant's disembarkability is improved.

The second outside world information acquired by the outside world sensor 7 during and after the first drive process of step ST6 is the left and right obstacles of the vehicle detected by the outside world sensor 7 while the vehicle moves to the target parking position 55. Includes location information for. Then, when the minimum distance Dmin in the width direction to either the left or right obstacle is equal to or less than a predetermined threshold value Dth (ST10: No), the control device 15 sets the modified parking position 58 in the direction in which the minimum distance Dmin increases. Set to a position offset from the center position. As a result, the minimum distance Dmin from the side of the vehicle body to the obstacles on the left and right becomes large, so that it becomes easy to get off from both the left and right.

At this time, as shown in FIG. 7, the control device 15 sets the modified parking position 58 in the parking frame 51 in parallel with the lane marking 50. As a result, the parking frame 51 is corrected and stored in an appropriate position and orientation according to the position of the surrounding situation.

When the control device 15 determines in step ST2 that the frontage Wf51 of the parking space 52 corresponding to the parking frame 51 is equal to or greater than the first width Wf1 larger than the vehicle width Wv (Yes), the control device 15 parks in step ST3. The position candidate 53 is set. That is, the parking frame 51 extracted based on the first outside world information can be a parking position candidate 53 if the corresponding parking space 52 has a frontage Wf51 of the first width Wf1 smaller than the second width Wf2. .. Therefore, a large number of parking position candidates 53 are presented to the driver via the touch panel 32, and the convenience of parking support is improved.

When the control device 15 determines in step ST8 that the frontage Wf55 of the parking space 52 corresponding to the target parking position 55 is the second width Wf2 or more larger than the first width Wf1 (Yes), the control device 15 of step ST16. The second drive process is executed. That is, the frontage Wf55 of the parking space 52 acquired based on the second outside world information is larger than the first width Wf1 required when setting the parking position candidate 53 set based on the first outside world information. When the two widths Wf2 are provided, the second drive process is performed. As a result, the second drive process is executed so as to offset the modified parking position 58 from the target parking position 55 to some extent, and the occupant's disembarkability is surely improved.

When the control device 15 determines in step ST8 that the frontage Wf55 of the parking space 52 corresponding to the target parking position 55 is smaller than the second width Wf2 (No), the control device 15 does not execute the second drive process. That is, when the amount that can offset the modified parking position 58 from the target parking position 55 is small, the second drive process is not executed. Therefore, it is possible to prevent the driver from feeling annoyed with parking assistance. In such a case, even if the second drive process is not performed, the user selects the parking position candidate 53 as the target parking position 55 after grasping that the parking space 52 of the parking position candidate 53 is not large. Therefore, the user does not feel inconvenienced when getting off the vehicle.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment. For example, in the above embodiment, the case of parking in a parallel parking frame has been described as an example, but the present invention can be applied even in the case of parking in an oblique parking frame. Further, the outside world sensor 7 may acquire the first and second outside world information by using the radar, the laser rider, or other sensors in addition to or instead of the sonar 18 and the outside camera 19. In addition, the specific configuration and arrangement of each member and portion, the quantity, the content and procedure of processing, and the like can be appropriately changed as long as they do not deviate from the gist of the present invention. On the other hand, not all of the components shown in the above embodiments are indispensable, and they can be appropriately selected.

1 Parking support system 7 External sensor (external information acquisition device)
15 Control device 18 Sonar (external world information acquisition device)
19 Outside camera (outside world information acquisition device)
32 Touch panel (display device, selection controller)
35 Selection controller 41 External recognition unit (parking frame extraction device)
43 Action Planning Department 44 Travel Control Department 50 Section Line 51 Parking Frame 52 Parking Space 53 Parking Position Candidate 55 Target Parking Position 56 First Track 58 Corrected Parking Position 60 Second Track Dmin Minimum in Width Direction to Either Left or Right Obstacle Distance Dminl Minimum distance to obstacle on the left side Dminr Minimum distance to obstacle on the right side Dth threshold Wf1 1st width Wf2 2nd width Wf51 Frontage of parking space 52 corresponding to parking frame 51 Wf55 Parking corresponding to target parking position 55 Frontage of space 52 Wv Vehicle width

Claims (7)

It ’s a parking support system.
An outside world information acquisition device that acquires outside world information around the vehicle,
A parking frame extraction device that extracts available parking frames partitioned by a lane marking based on the first outside world information acquired by the outside world information acquisition device, and a parking frame extraction device.
A display device for displaying parking position candidates set in the parking frame and
A selection operator that accepts a user's selection operation for the parking position candidate displayed on the display device, and
The first parking position candidate is set at a predetermined position in the parking frame, the parking position candidate selected by the user via the selection controller is set as the target parking position, and the target parking position is reached. It has a control device that calculates a track and executes a first drive process for autonomously moving the vehicle along the first track.
The control device has a modified parking position different from the target parking position based on the second outside world information acquired by the outside world information acquisition device during and / or after the first drive process. Is set, a second track from the target parking position to the modified parking position is calculated, and a second drive process for autonomously moving the vehicle along the second track is executed. Parking support system. The control device is characterized in that the target parking position is set at a center position in the width direction within the target parking position, and the modified parking position is set at a position offset in the width direction from the target parking position. The parking support system according to claim 1. The second outside world information includes position information of left and right obstacles of the vehicle detected by the outside world information acquisition device while the vehicle moves to the target parking position.
When the minimum distance in the width direction to the obstacle on either the left or right side is equal to or less than a predetermined threshold value, the control device offsets the modified parking position from the center position in a direction in which the minimum distance increases. The parking support system according to claim 2, wherein the parking support system is set to. The parking support system according to claim 2 or 3, wherein the control device sets the modified parking position in the parking frame in parallel with the division line. The control device sets the parking position candidate when the frontage of the parking space corresponding to the parking frame is the first width or more larger than the vehicle width, and the frontage of the parking space corresponding to the target parking position. The parking support system according to any one of claims 2 to 4, wherein the second drive process is executed when is a second width or more larger than the first width. The parking support system according to claim 5, wherein the control device does not execute the second drive process when the frontage of the parking space corresponding to the target parking position is smaller than the second width. .. The invention according to any one of claims 1 to 6, wherein the parking frame extraction device extracts a part of the left and right lane markings on the entrance side as the parking frame that can be used. Parking support system.

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